diff --git a/CHANGELOG.md b/CHANGELOG.md
index d6a03dbbddd38413ccab57211b60a139b15b810b..8eec5426035a5cdbb07dec3ba9583adb60bce49c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 ## [Unreleased]
 
 - added CHANGELOG.md in https://github.com/Gepetto/example-robot-data/pull/193
+- added a simple `quadruped` robot
 
 ## [4.0.9] - 2023-11-29
 
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index c795f51582e52d9bcb929ae9828f478fa9b2037d..38eb226a0cfc7a42d9c5b643684b271d6d169f1d 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -489,6 +489,13 @@ class DoublePendulumSimpleLoader(DoublePendulumLoader):
     urdf_filename = "double_pendulum_simple.urdf"
 
 
+class QuadrupedLoader(RobotLoader):
+    path = "quadruped_description"
+    urdf_subpath = "urdf"
+    urdf_filename = "quadruped.urdf"
+    free_flyer = True
+
+
 class RomeoLoader(RobotLoader):
     path = "romeo_description"
     urdf_filename = "romeo.urdf"
@@ -538,6 +545,7 @@ ROBOTS = {
     "panda": PandaLoader,
     "allegro_right_hand": AllegroRightHandLoader,
     "allegro_left_hand": AllegroLeftHandLoader,
+    "quadruped": QuadrupedLoader,
     "romeo": RomeoLoader,
     "simple_humanoid": SimpleHumanoidLoader,
     "simple_humanoid_classical": SimpleHumanoidClassicalLoader,
diff --git a/robots/quadruped_description/README.md b/robots/quadruped_description/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..7d12923572e116f6eba220aef426dc38c960548b
--- /dev/null
+++ b/robots/quadruped_description/README.md
@@ -0,0 +1,6 @@
+# Quadruped
+
+A simple model by @jviereck imported from
+[TSID](https://github.com/stack-of-tasks/tsid/commit/a89f9735a9d3bd64128248dfb18fdea6e49e0996).
+
+License: BSD-2-Clause
diff --git a/robots/quadruped_description/urdf/cube.obj b/robots/quadruped_description/urdf/cube.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d724d80341e3b7686f1bc3fba2ab4b62f26c533
--- /dev/null
+++ b/robots/quadruped_description/urdf/cube.obj
@@ -0,0 +1,85 @@
+o Box
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diff --git a/robots/quadruped_description/urdf/cylinder.obj b/robots/quadruped_description/urdf/cylinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a0f600298326e050162af00e7f6a7ed7f70a666
--- /dev/null
+++ b/robots/quadruped_description/urdf/cylinder.obj
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diff --git a/robots/quadruped_description/urdf/quadruped.urdf b/robots/quadruped_description/urdf/quadruped.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e69ea65db2364fc83478fef18ddabc2c91769819
--- /dev/null
+++ b/robots/quadruped_description/urdf/quadruped.urdf
@@ -0,0 +1,419 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from quadroped.xacro                | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="quadroped" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+  <link name="base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2.0"/>
+      <inertia ixx="0.0270833333333" ixy="0" ixz="0" iyy="0.00708333333333" iyz="0" izz="0.0333333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://example-robot-data/robots/quadruped_description/urdf/cube.obj" scale="0.2 0.4 0.05"/>
+        <!-- <box size="${base_w} ${base_l} ${base_h}"/> -->
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.2 0.4 0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- <xacro:leg prefix="FL" rx="${0.}" ry="${0.}"/> -->
+  <joint name="FL_HFE" type="revolute">
+    <parent link="base_link"/>
+    <child link="FL_upperleg"/>
+    <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="-0.1 0.2 0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="FL_upperleg">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.08"/>
+      <geometry>
+        <!-- <cylinder length="${upper_leg_length}" radius="${upper_leg_radius}"/> -->
+        <mesh filename="package://example-robot-data/robots/quadruped_description/urdf/cylinder.obj" scale="0.025 0.025 0.16"/>
+      </geometry>
+      <material name="grey">
+        <color rgba=".4 .4 .4 .1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.08"/>
+      <geometry>
+        <cylinder length="0.16" radius="0.025"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 -0.0793"/>
+      <mass value="0.162"/>
+      <inertia ixx="0.000469609" ixy="0.0" ixz="0.0" iyy="0.000469609" iyz="0.0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <joint name="FL_KFE" type="revolute">
+    <parent link="FL_upperleg"/>
+    <child link="FL_shank"/>
+    <limit effort="1000" velocity="10000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.16"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="FL_shank">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <restitution value="0.5"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.08"/>
+      <geometry>
+        <!-- <cylinder length="${upper_leg_length}" radius="${upper_leg_radius}"/> -->
+        <mesh filename="package://example-robot-data/robots/quadruped_description/urdf/cylinder.obj" scale="0.025 0.025 0.16"/>
+      </geometry>
+      <material name="grey">
+        <color rgba=".4 .4 .4 .1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.08"/>
+      <geometry>
+        <cylinder length="0.16" radius="0.025"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 -0.0756"/>
+      <mass value="0.021"/>
+      <inertia ixx="0.000087575" ixy="0.0" ixz="0.0" iyy="0.000087575" iyz="0.0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <joint name="FL_END" type="fixed">
+    <parent link="FL_shank"/>
+    <child link="FL_contact"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.16"/>
+  </joint>
+  <link name="FL_contact">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <restitution value="0.5"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <!-- <sphere radius="${upper_leg_radius}"/> -->
+        <mesh filename="package://example-robot-data/robots/quadruped_description/urdf/sphere.obj" scale="0.025 0.025 0.025"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1. 0. 0. 1."/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.025"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01"/>
+      <inertia ixx="0." ixy="0.0" ixz="0.0" iyy="0." iyz="0.0" izz="0."/>
+    </inertial>
+  </link>
+  <joint name="FR_HFE" type="revolute">
+    <parent link="base_link"/>
+    <child link="FR_upperleg"/>
+    <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.1 0.2 0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="FR_upperleg">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.08"/>
+      <geometry>
+        <!-- <cylinder length="${upper_leg_length}" radius="${upper_leg_radius}"/> -->
+        <mesh filename="package://example-robot-data/robots/quadruped_description/urdf/cylinder.obj" scale="0.025 0.025 0.16"/>
+      </geometry>
+      <material name="grey">
+        <color rgba=".4 .4 .4 .1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.08"/>
+      <geometry>
+        <cylinder length="0.16" radius="0.025"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 -0.0793"/>
+      <mass value="0.162"/>
+      <inertia ixx="0.000469609" ixy="0.0" ixz="0.0" iyy="0.000469609" iyz="0.0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <joint name="FR_KFE" type="revolute">
+    <parent link="FR_upperleg"/>
+    <child link="FR_shank"/>
+    <limit effort="1000" velocity="10000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.16"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="FR_shank">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <restitution value="0.5"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.08"/>
+      <geometry>
+        <!-- <cylinder length="${upper_leg_length}" radius="${upper_leg_radius}"/> -->
+        <mesh filename="package://example-robot-data/robots/quadruped_description/urdf/cylinder.obj" scale="0.025 0.025 0.16"/>
+      </geometry>
+      <material name="grey">
+        <color rgba=".4 .4 .4 .1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.08"/>
+      <geometry>
+        <cylinder length="0.16" radius="0.025"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 -0.0756"/>
+      <mass value="0.021"/>
+      <inertia ixx="0.000087575" ixy="0.0" ixz="0.0" iyy="0.000087575" iyz="0.0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <joint name="FR_END" type="fixed">
+    <parent link="FR_shank"/>
+    <child link="FR_contact"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.16"/>
+  </joint>
+  <link name="FR_contact">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <restitution value="0.5"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <!-- <sphere radius="${upper_leg_radius}"/> -->
+        <mesh filename="package://example-robot-data/robots/quadruped_description/urdf/sphere.obj" scale="0.025 0.025 0.025"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1. 0. 0. 1."/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.025"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01"/>
+      <inertia ixx="0." ixy="0.0" ixz="0.0" iyy="0." iyz="0.0" izz="0."/>
+    </inertial>
+  </link>
+  <joint name="BL_HFE" type="revolute">
+    <parent link="base_link"/>
+    <child link="BL_upperleg"/>
+    <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="-0.1 -0.2 0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="BL_upperleg">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.08"/>
+      <geometry>
+        <!-- <cylinder length="${upper_leg_length}" radius="${upper_leg_radius}"/> -->
+        <mesh filename="package://example-robot-data/robots/quadruped_description/urdf/cylinder.obj" scale="0.025 0.025 0.16"/>
+      </geometry>
+      <material name="grey">
+        <color rgba=".4 .4 .4 .1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.08"/>
+      <geometry>
+        <cylinder length="0.16" radius="0.025"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 -0.0793"/>
+      <mass value="0.162"/>
+      <inertia ixx="0.000469609" ixy="0.0" ixz="0.0" iyy="0.000469609" iyz="0.0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <joint name="BL_KFE" type="revolute">
+    <parent link="BL_upperleg"/>
+    <child link="BL_shank"/>
+    <limit effort="1000" velocity="10000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.16"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="BL_shank">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <restitution value="0.5"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.08"/>
+      <geometry>
+        <!-- <cylinder length="${upper_leg_length}" radius="${upper_leg_radius}"/> -->
+        <mesh filename="package://example-robot-data/robots/quadruped_description/urdf/cylinder.obj" scale="0.025 0.025 0.16"/>
+      </geometry>
+      <material name="grey">
+        <color rgba=".4 .4 .4 .1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.08"/>
+      <geometry>
+        <cylinder length="0.16" radius="0.025"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 -0.0756"/>
+      <mass value="0.021"/>
+      <inertia ixx="0.000087575" ixy="0.0" ixz="0.0" iyy="0.000087575" iyz="0.0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <joint name="BL_END" type="fixed">
+    <parent link="BL_shank"/>
+    <child link="BL_contact"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.16"/>
+  </joint>
+  <link name="BL_contact">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <restitution value="0.5"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <!-- <sphere radius="${upper_leg_radius}"/> -->
+        <mesh filename="package://example-robot-data/robots/quadruped_description/urdf/sphere.obj" scale="0.025 0.025 0.025"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1. 0. 0. 1."/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.025"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01"/>
+      <inertia ixx="0." ixy="0.0" ixz="0.0" iyy="0." iyz="0.0" izz="0."/>
+    </inertial>
+  </link>
+  <joint name="BR_HFE" type="revolute">
+    <parent link="base_link"/>
+    <child link="BR_upperleg"/>
+    <limit effort="1000" lower="-10" upper="10" velocity="1000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.1 -0.2 0"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="BR_upperleg">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.08"/>
+      <geometry>
+        <!-- <cylinder length="${upper_leg_length}" radius="${upper_leg_radius}"/> -->
+        <mesh filename="package://example-robot-data/robots/quadruped_description/urdf/cylinder.obj" scale="0.025 0.025 0.16"/>
+      </geometry>
+      <material name="grey">
+        <color rgba=".4 .4 .4 .1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.08"/>
+      <geometry>
+        <cylinder length="0.16" radius="0.025"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 -0.0793"/>
+      <mass value="0.162"/>
+      <inertia ixx="0.000469609" ixy="0.0" ixz="0.0" iyy="0.000469609" iyz="0.0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <joint name="BR_KFE" type="revolute">
+    <parent link="BR_upperleg"/>
+    <child link="BR_shank"/>
+    <limit effort="1000" velocity="10000"/>
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.16"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="BR_shank">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <restitution value="0.5"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.08"/>
+      <geometry>
+        <!-- <cylinder length="${upper_leg_length}" radius="${upper_leg_radius}"/> -->
+        <mesh filename="package://example-robot-data/robots/quadruped_description/urdf/cylinder.obj" scale="0.025 0.025 0.16"/>
+      </geometry>
+      <material name="grey">
+        <color rgba=".4 .4 .4 .1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.08"/>
+      <geometry>
+        <cylinder length="0.16" radius="0.025"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 -0.0756"/>
+      <mass value="0.021"/>
+      <inertia ixx="0.000087575" ixy="0.0" ixz="0.0" iyy="0.000087575" iyz="0.0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <joint name="BR_END" type="fixed">
+    <parent link="BR_shank"/>
+    <child link="BR_contact"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.16"/>
+  </joint>
+  <link name="BR_contact">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <restitution value="0.5"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <!-- <sphere radius="${upper_leg_radius}"/> -->
+        <mesh filename="package://example-robot-data/robots/quadruped_description/urdf/sphere.obj" scale="0.025 0.025 0.025"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1. 0. 0. 1."/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.025"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01"/>
+      <inertia ixx="0." ixy="0.0" ixz="0.0" iyy="0." iyz="0.0" izz="0."/>
+    </inertial>
+  </link>
+</robot>
diff --git a/robots/quadruped_description/urdf/sphere.obj b/robots/quadruped_description/urdf/sphere.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7898a64ec18c3843374dcbf6d8da36526933a83
--- /dev/null
+++ b/robots/quadruped_description/urdf/sphere.obj
@@ -0,0 +1,270 @@
+o Sphere
+v 0 1 0
+v 0 1 0
+v 0 1 0
+v 0 1 0
+v 0 1 0
+v 0 1 0
+v 0 1 0
+v 0 1 0
+v 0 1 0
+v -0.5 0.8660253882408142 0
+v -0.3535533845424652 0.8660253882408142 0.3535533845424652
+v -3.0616171314629196e-17 0.8660253882408142 0.5
+v 0.3535533845424652 0.8660253882408142 0.3535533845424652
+v 0.5 0.8660253882408142 6.123234262925839e-17
+v 0.3535533845424652 0.8660253882408142 -0.3535533845424652
+v 9.184850732644269e-17 0.8660253882408142 -0.5
+v -0.3535533845424652 0.8660253882408142 -0.3535533845424652
+v -0.5 0.8660253882408142 -1.2246468525851679e-16
+v -0.8660253882408142 0.5 0
+v -0.6123724579811096 0.5 0.6123724579811096
+v -5.302876236065149e-17 0.5 0.8660253882408142
+v 0.6123724579811096 0.5 0.6123724579811096
+v 0.8660253882408142 0.5 1.0605752472130298e-16
+v 0.6123724579811096 0.5 -0.6123724579811096
+v 1.5908628708195447e-16 0.5 -0.8660253882408142
+v -0.6123724579811096 0.5 -0.6123724579811096
+v -0.8660253882408142 0.5 -2.1211504944260596e-16
+v -1 6.123234262925839e-17 0
+v -0.7071067690849304 6.123234262925839e-17 0.7071067690849304
+v -6.123234262925839e-17 6.123234262925839e-17 1
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diff --git a/unittest/test_load.py b/unittest/test_load.py
index a7fb877ae1ea51bfbca9f22e4bad334be67fda0d..618408030f016dede3db2baf0112bed5fc2e7d8c 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -101,6 +101,9 @@ class RobotTestCase(unittest.TestCase):
     def test_allegro_left(self):
         self.check("allegro_left_hand", 16, 16)
 
+    def test_quadruped(self):
+        self.check("quadruped", 15, 14)
+
     def test_romeo(self):
         self.check("romeo", 62, 61)